Acta Universitatis Sapientiae Electrical and Mechanical Engineering · 2018 · 24 citations · 14 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot ControlRoboticsControl Of Dynamical SystemsDrive SystemsDynamic ControlMobile Robot ControlModel Predictive ControlOptimal ControlDifferential Drive RobotsInput-output LinearizationLinear Model Predictive ControlNonlinear Model Predictive ControlPredictive ControlPredictive Control SystemsQuadratic OptimizationTuning
Abstract This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is nonlinear, which is why an input–output linearization technique is used, and, based on the obtained linear model, an MPC was developed. The predictive control law gains were acquired by minimizing a quadratic criterion. In addition, to enable better tuning of the obtained predictive controller gains, torques and settling time graphs were used. To show the efficiency of the proposed approach, some simulation results are provided.
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Coordinating locomotion and manipulation of a mobile manipulator
Y. Yamamoto, X. Yun · 2005 · 123 citations · Full text
Engineering, Mechanical Engineering, Robotics Engineering +17